WO2019211712A1 - Dual axle robotic end effector - Google Patents
Dual axle robotic end effector Download PDFInfo
- Publication number
- WO2019211712A1 WO2019211712A1 PCT/IB2019/053453 IB2019053453W WO2019211712A1 WO 2019211712 A1 WO2019211712 A1 WO 2019211712A1 IB 2019053453 W IB2019053453 W IB 2019053453W WO 2019211712 A1 WO2019211712 A1 WO 2019211712A1
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- WO
- WIPO (PCT)
- Prior art keywords
- axle
- jaw
- end effector
- jaw holder
- sleeve
- Prior art date
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
- A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00831—Material properties
- A61B2017/00853—Material properties low friction, hydrophobic and corrosion-resistant fluorocarbon resin coating (ptf, ptfe, polytetrafluoroethylene)
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2939—Details of linkages or pivot points
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
Definitions
- MI S Minimally invasive surgical
- Laparoscopic surgery is one type of MI S procedure in which one or more small incisions are formed in the abdom en of a patient and a trocar is inserted through the incision to form a pathway that provides access to the abdom inal cavity.
- a trocar is inserted through the incision to form a pathway that provides access to the abdom inal cavity.
- the trocar also helps facilitate insufflation to elevate the abdom inal wall above the organs.
- the instruments and tools introduced into the abdom inal cavity via the trocar can be used to engage and/or treat tissue in a num ber of ways to achieve a diagnostic or therapeutic effect.
- Robotic systems can allow for more intuitive hand m ovements by maintaining natural eye-hand axis. Robotic systems can also allow for more degrees of freedom in m ovement by including a“wrist” joint that creates a m ore natural hand like articulation.
- the instrum ent’s end effector can be articulated (moved) using a cable driven motion system having one or more drive cables that extend through the wrist joint.
- a user e.g., a surgeon
- a user is able to remotely operate an instrument’s end effector by grasping and manipulating in space one or more controllers that com m unicate with a tool driver coupled to the surgical instrument.
- User inputs are processed by a com puter system incorporated into the robotic surgical system and the tool driver responds by actuating the cable driven motion system and, more particularly, the drive cables. Moving the drive cables articulates the end effector to desired positions and configurations.
- the drive cables are maintained at elevated tensile loads.
- the axle that governs articulation of the end effector in yaw motion can begin to gall, which can generate excess friction and contribute to cable breakage.
- Galling of the axles is exacerbated in end effectors having opposing jaws or blades with jaw holders that rotate independently against the axle. Galling between the axle and the jaw holders increases friction, which reduces cable life.
- FIG.1 is a block diagram of an example robotic surgical system that may incorporate some or all of the principles of the present disclosure.
- FIG.2 is a side view of an example surgical tool that may incorporate some or all of the principles of the present disclosure.
- FIG.3 illustrates potential degrees of freedom in which the wrist of FIG.1 may be able to articulate (pivot).
- FIG.4 is an enlarged isometric view of the distal end of the surgical tool of FIG.1.
- FIG.5 is an exploded view of a portion of the end effector of FIG.4.
- FIG.6 is a cross-sectional side view of the end effector of FIG.5 as assembled.
- the present disclosure is related to robotic surgical systems and, more particularly, to surgical instruments having an end effector that incorporates a dual axle construction where one axle resides inside a hollow outer axle to increase the bearing surface and reduce galling.
- Embodiments discussed herein describe surgical instruments that incorporate cable-driven end effectors with an improved axle that helps mitigate galling.
- One example end effector includes a distal clevis, an axle mounted to the distal clevis, a first jaw holder and corresponding first jaw member rotatably mounted to the axle, and a second jaw holder and corresponding second jaw member rotatably mounted to the axle.
- a sleeve axle radially interposes the axle and the jaw holders.
- the sleeve axle has a first end, a second end, and a central passageway extending between the first and second ends.
- the axle m ay be received within the central passageway and the sleeve axle is rotatable relative to the axle.
- Various portions of the axle and the sleeve axle may also be coated or otherwise include a wear-resistant substance to m itigate wear and friction.
- FIG. 1 is a block diagram of an exam ple robotic surgical system 100 that may incorporate some or all of the principles of the present disclosure.
- the system 100 can include at least one master controller 102a and at least one arm cart 104, although the arm cart 104 is not necessarily required.
- the arm cart 104 m ay be mechanically and/or electrically coupled to a robotic manipulator and, more particularly, to one or more robotic arms 106 or“tool drivers”.
- Each robotic arm 1 06 may include and otherwise provide a location for mounting one or more surgical tools or instrum ents 108 for perform ing various surgical tasks on a patient 1 10. Operation of the robotic arms 106 and instrum ents 108 m ay be directed by a clinician 1 1 2a (e.g. , a surgeon) from the master controller 1 02a.
- a clinician 1 1 2a e.g. , a surgeon
- a second master controller 102b (shown in dashed lines) operated by a second clinician 1 12b may also direct operation of the robotic arms 106 and instruments 108 in conjunction with the first clinician 1 1 2a.
- each clinician 1 02a,b m control different robotic arm s 106 or, in some cases, complete control of the robotic arms 1 06 m ay be passed between the clinicians 102a,b.
- additional arm carts having additional robotic arms (not shown) m ay be utilized during surgery on a patient 1 10, and these additional robotic arms may be controlled by one or more of the master controllers 1 02a,b.
- the arm cart 1 04 and the master controllers 102a,b may be in com m unication with one another via a com m unications link 1 14, which may be any type of wired or wireless telecom m unications m eans configured to carry a variety of com m unication signals (e.g., electrical, optical, infrared, etc.) according to any com m unications protocol.
- com m unication signals e.g., electrical, optical, infrared, etc.
- the m aster controllers 1 02a, b generally include one or m ore physical controllers that can be grasped by the clinicians 1 12a,b and manipulated in space while the surgeon views the procedure via a stereo display.
- the physical controllers generally comprise manual input devices movable in multiple degrees of freedom, and which often include an actuatable handle for actuating the surgical instrument(s) 108, for example, for opening and closing opposing jaws, applying an electrical potential (current) to an electrode, or the like.
- the master controllers 102a,b can also include an optional feedback meter viewable by the clinicians 112a, b via a display to provide a visual indication of various surgical instrument metrics, such as the amount of force being applied to the surgical instrument ( i . e. , a cutting instrument or dynamic clamping member).
- FIG. 2 is side view of an example surgical tool 200 that may incorporate some or all of the principles of the present disclosure.
- the surgical tool 200 may be the same as or similar to the surgical instrument(s) 108 of FIG. 1 and, therefore, may be used in conjunction with a robotic surgical system, such as the robotic surgical system 100 of FIG. 1. Accordingly, the surgical tool 200 may be designed to be releasably coupled to a tool driver included in the robotic surgical system 100. In other embodiments, however, the surgical tool 200 may be adapted for use in a manual or hand-operated manner, without departing from the scope of the disclosure.
- the surgical tool 200 includes an elongated shaft 202, an end effector 204, a wrist 206 (alternately referred to as a “wrist joint”) that couples the end effector 204 to the distal end of the shaft 202, and a drive housing 208 coupled to the proximal end of the shaft 202.
- the drive housing 208 can include coupling features that releasably couple the surgical tool 200 to the robotic surgical system.
- proximal and distal are defined herein relative to a robotic surgical system having an interface configured to mechanically and electrically couple the surgical tool 200 (e.g. , the housing 208) to a robotic manipulator.
- the term“proximal” refers to the position of an element closer to the robotic m anipulator and the term“distal” refers to the position of an element closer to the end effector 204 and thus further away from the robotic m anipulator.
- the term s“proximal” and distal” are defined herein relative to a user, such as a surgeon or clinician.
- proximal refers to the position of an element closer to the user and the term“distal” refers to the position of an elem ent closer to the end effector 204 and thus further away from the user.
- distal refers to the position of an elem ent closer to the end effector 204 and thus further away from the user.
- use of directional terms such as above, below, upper, lower, upward, downward, left, right, and the like are used in relation to the illustrative embodiments as they are depicted in the figures, the upward or upper direction being toward the top of the corresponding figure and the downward or lower direction being toward the bottom of the corresponding figure.
- the end effector 204 is configured to m ove (pivot) relative to the shaft 202 at the wrist 206 to position the end effector 204 at desired orientations and locations relative to a surgical site.
- the housing 208 includes (contains) various mechanism s designed to control operation of various features associated with the end effector 204 (e.g., clamping, firing, rotation, articulation, energy delivery, etc.) .
- I n at least som e embodim ents, the shaft 202, and hence the end effector 204 coupled thereto, is configured to rotate about a longitudinal axis Ai of the shaft 202.
- at least one of the mechanism s included (housed) in the housing 208 is configured to control rotational movement of the shaft 202 about the longitudinal axis
- the surgical tool 200 can have any of a variety of configurations capable of perform ing at least one surgical function.
- the surgical tool 200 may include, but is not lim ited to, forceps, a grasper, a needle driver, scissors, an electro cautery tool, a stapler, a clip applier, a hook, a spatula, a suction tool, an irrigation tool, an im aging device (e.g. , an endoscope or ultrasonic probe) , or any combination thereof.
- the surgical tool 200 may be configured to apply energy to tissue, such as radio frequency (RF) energy.
- RF radio frequency
- the shaft 202 is an elongate member extending distally from the housing 208 and has at least one lumen extending therethrough along its axial length.
- the shaft 202 m ay be fixed to the housing 208, but could alternatively be rotatably m ounted to the housing 208 to allow the shaft 202 to rotate about the longitudinal axis Ai .
- the shaft 202 may be releasably coupled to the housing 208, which may allow a single housing 208 to be adaptable to various shafts having different end effectors.
- the end effector 204 can have a variety of sizes, shapes, and configurations. I n the illustrated em bodim ent, the end effector 204 comprises surgical scissors that include opposing jaws 210, 21 2 (alternately referred to as “blades”) configured to m ove (articulate) between open and closed positions. As will be appreciated, however, the opposing jaws 210, 21 2 may alternatively form part of other types of end effectors such as, but not lim ited to, a tissue grasper, a clip applier, a needle driver, a babcock including a pair of opposed grasping jaws, bipolar jaws (e.g.
- One or both of the jaws 210, 21 2 may be configured to pivot at the wrist 206 to articulate the end effector 204 between the open and closed positions.
- FI G. 3 illustrates the potential degrees of freedom in which the wrist 206 may be able to articulate (pivot) .
- the wrist 206 can have any of a variety of configurations. I n general, the wrist 206 comprises a joint configured to allow pivoting m ovement of the end effector 204 relative to the shaft 202.
- the degrees of freedom of the wrist 206 are represented by three translational variables (i.e. , surge, heave, and sway) , and by three rotational variables (i.e., Euler angles or roll, pitch, and yaw) .
- the translational and rotational variables describe the position and orientation of a com ponent of a surgical system (e.g., the end effector 204) with respect to a given reference Cartesian fram e.
- “surge” refers to forward and backward translational m ovement
- “heave” refers to translational movement up and down
- “sway” refers to translational movement left and right.
- “roll” refers to tilting side to side
- “pitch” refers to tilting forward and backward
- “yaw” refers to turning left and right.
- the pivoting m otion can include pitch movem ent about a first axis of the wrist 206 (e.g. , X-axis) , yaw movement about a second axis of the wrist 206 (e.g. , Y-axis) , and combinations thereof to allow for 360° rotational movem ent of the end effector 204 about the wrist 206.
- the pivoting motion can be lim ited to m ovement in a single plane, e.g. , only pitch movement about the first axis of the wrist 206 or only yaw movem ent about the second axis of the wrist 206, such that the end effector 204 moves only in a single plane.
- the surgical tool 200 may also include a plurality of drive cables (obscured in FI G. 2) that form part of a cable driven motion system configured to facilitate m ovement and articulation of the end effector 204 relative to the shaft 202.
- Moving (actuating) at least some of the drive cables moves the end effector 204 between an unarticulated position and an articulated position.
- the end effector 204 is depicted in FI G. 2 in the unarticulated position where a longitudinal axis A 2 of the end effector 204 is substantially aligned with the longitudinal axis Ai of the shaft 202, such that the end effector 204 is at a substantially zero angle relative to the shaft 202.
- the end effector 204 may not be at a precise zero angle relative to the shaft 202 in the unarticulated position, but nevertheless be considered “substantially aligned” thereto. I n the articulated position, the longitudinal axes Ai , A 2 would be angularly offset from each other such that the end effector 204 is at a non-zero angle relative to the shaft 202.
- FI G. 4 is an enlarged isometric view of the distal end of the surgical tool 200 of FI G. 2. More specifically, FI G. 4 depicts enlarged views of the end effector 204 and the wrist 206, with the end effector 204 in the unarticulated position. The wrist 206 operatively couples the end effector 204 to the shaft 202 (FI G. 2) .
- a shaft adapter 400 may be directly coupled to the wrist 206 and otherwise interpose the shaft 202 and the wrist 206. I n other embodiments, the shaft adapter 400 may be om itted and the shaft 202 may instead be directly coupled to the wrist 206, without departing from the scope of the disclosure.
- the term“operatively couple” refers to a direct or indirect coupling engagement. Accordingly, the wrist 206 may be operatively coupled to the shaft 202 either through a direct coupling engagement where the wrist 206 is directly coupled to the distal end of the shaft 202, or an indirect coupling engagement where the shaft adapter 400 interposes the wrist 206 and the distal end of the shaft 202.
- the wrist 206 To operatively couple the end effector 204 to the shaft 202 (e.g., via the shaft adapter 400) , the wrist 206 includes a distal clevis 402a and a proximal clevis 402b.
- the end effector 204 i.e.
- the jaws 210, 212) is rotatably m ounted to the distal clevis 402a at a first axle 404a
- the distal clevis 402a is rotatably m ounted to the proximal clevis 402b at a second axle 404b
- the proximal clevis 402b is coupled to a distal end 406 of the shaft adapter 400 (or alternatively the distal end of the shaft 202 of FI G. 2) .
- the wrist 206 provides a first pivot axis Pi that extends through the first axle 404a and a second pivot axis P2 that extends through the second axle 404b.
- the first pivot axis Pi is substantially perpendicular (orthogonal) to the longitudinal axis A2 of the end effector 204
- the second pivot axis P2 is substantially perpendicular (orthogonal) to both the longitudinal axis A 2 and the first pivot axis Pi .
- Movem ent about the first pivot axis Pi provides“yaw” articulation of the end effector 204
- movement about the second pivot axis P2 provides“pitch” articulation of the end effector 204.
- the jaws 21 0, 212 are mounted at the first pivot axis Pi , thereby allowing the jaws 210, 21 2 to pivot relative to each other to open and close the end effector 204 or alternatively pivot in tandem to articulate the orientation of the end effector 204.
- a plurality of drive cables shown as drive cables 408a, 408b, 408c, and 408d, extend longitudinally within a lumen 410 defined by the shaft adapter 400 (and/or the shaft 202 of FI G. 2) and pass through the wrist 206 to be operatively coupled to the end effector 204. While four drive cables 408a-d are depicted in FI G. 4, more or less than four drive cables 408a-d may be included, without departing from the scope of the disclosure.
- the drive cables 408a-d form part of the cable driven motion system briefly described above, and m ay be referred to and otherwise characterized as cables, bands, lines, cords, wires, ropes, strings, twisted strings, elongate members, etc.
- the drive cables 408a-d can be m ade from a variety of materials including, but not lim ited to, m etal (e.g., tungsten, stainless steel, etc.) or a polym er.
- Example drive cables are described in U.S. Patent Pub. No. 2015/0209965 entitled“Compact Robotic Wrist,” and U.S. Patent Pub. No.
- the lumen 41 0 can be a single lumen, as illustrated, or can alternatively comprise a plurality of independent lum ens that each receive one or more of the drive cables 408a-d.
- the drive cables 408a-d extend proximally from the end effector 204 to the drive housing 208 (FI G. 2) where they are operatively coupled to various actuation m echanisms or devices housed (contained) therein to facilitate longitudinal movement (translation) of the drive cables 408a-d within the lumen 41 0.
- Selective actuation of all or a portion of the drive cables 408a-d causes the end effector 204 (e.g. , one or both of the jaws 210, 212) to articulate (pivot) relative to the shaft 202.
- selective actuation causes a corresponding drive cable 408a-d to translate longitudinally within the lumen 410 and thereby cause pivoting movem ent of the end effector 204.
- One or m ore drive cables 408a-d may translate longitudinally to cause the end effector 204 to articulate (e.g. , both of the jaws 210, 212 angled in a sam e direction) , to cause the end effector 204 to open (e.g., one or both of the jaws 21 0, 21 2 pivot away from the other) , or to cause the end effector 204 to close (e.g., one or both of the jaws 210, 212 pivot toward the other) .
- Moving the drive cables 408a-d can be accom plished in a variety of ways, such as by triggering an associated actuator or m echanism operatively coupled to or housed within the drive housing 208 (FI G. 2) .
- Moving a given drive cable 408a- d constitutes applying tension (i.e., pull force) to the given drive cable 408a-d in a proximal direction, which causes the given drive cable 408a-d to translate and thereby cause the end effector 204 to m ove (articulate) relative to the shaft 202.
- the wrist 206 includes a first plurality of pulleys 412a and a second plurality of pulleys 41 2b, each configured to interact with and redirect the drive cables 408a-d for engagement with the end effector 204.
- the first plurality of pulleys 412a is m ounted to the proximal clevis 402b at the second axle 404b and the second plurality of pulleys 412b is also m ounted to the proxim al clevis 402b but at a third axle 404c located proximal to the second axle 404b.
- the first and second pluralities of pulleys 412a,b cooperatively redirect the drive cables 408a-d through an “S” shaped pathway before the drive cables 408a-d are operatively coupled to the end effector 204.
- one pair of drive cables 408a-d is operatively coupled to each jaw 210, 21 2 and configured to“antagonistically” operate the corresponding jaw 210, 21 2.
- the illustrated em bodim ent for example, the first and second drive cables 408a, b are coupled with a connector (not shown) at the first jaw 210, and the third and fourth drive cables 408c, d are coupled with a connector (not shown) at the second jaw 212.
- actuation of the first drive cable 408a pivots the first jaw 210 about the first pivot axis Pi toward the open position
- actuation of the second drive cable 408b pivots the first jaw 210 about the first pivot axis Pi in the opposite direction and toward the closed position
- actuation of the third drive cable 408c pivots the second jaw 21 2 about the first pivot axis Pi toward the open position
- actuation of the fourth drive cable 408d pivots the second jaw 212 about the first pivot axis Pi in the opposite direction and toward the closed position.
- the drive cables 408a-d may be characterized or otherwise referred to as “antagonistic” cables that cooperatively (yet antagonistically) operate to cause relative or tandem movement of the first and second jaws 21 0, 212.
- the first drive cable 408a When the first drive cable 408a is actuated (moved) , the second drive cable 408b naturally follows as coupled to the first drive cable 408a, and when the third drive cable 408c is actuated, the fourth drive cable 408d naturally follows as coupled to the third drive cable 408c, and vice versa.
- the end effector 204 further includes a first jaw holder 414a and a second jaw holder 414b laterally offset from the first jaw holder 414a.
- the first jaw holder 414a is m ounted to the first axle 404a and configured to receive and seat the first jaw 210 such that movement (rotation) of the first jaw holder 414a about the first pivot axis Pi correspondingly m oves (rotates) the first jaw 210.
- the first jaw holder 414a may also provide and otherwise define a first pulley 416a configured to receive and seat one or more drive cables, such as the first and second drive cables 408a, b to effect such movement (rotation) .
- the second jaw holder 414b is sim ilarly mounted to the first axle 404a and is configured to receive and seat the second jaw 212 such that movement (rotation) of the second jaw holder 414b about the first pivot axis Pi correspondingly m oves (rotates) the second jaw 212.
- the second jaw holder 414b may also provide and otherwise define a second pulley 416b configured to receive and seat one or m ore drive cables, such as the third and fourth drive cables 408c, d, to effect such movement (rotation) .
- jaw holder is intended to apply to a variety of types of end effectors having opposing jaws or blades that are rotatably pivotable (movable) relative to one another.
- the jaws 210, 212 comprise opposing scissor blades of a surgical scissors end effector.
- the jaw holders 414a, b m ay alternately be referred to as“blade holders”.
- the jaws 21 0, 21 2 m ay alternatively com prise opposing jaws used in a grasper end effector, or the like, and the term“jaw holder” sim ilarly applies, without departing from the scope of the disclosure.
- the term “holder” in“jaw holder” m ay be replaced with“m ount,” “drive member,” or “actuation m ember.”
- FI G. 5 is an exploded view of a portion of the end effector 204, according to one or more embodiments of the disclosure. More specifically, FI G. 5 depicts the distal clevis 402a, the first and second jaw members 210, 21 2 mounted to their respective first and second jaw holders 414a,b, and the first axle 404a.
- the distal clevis 402a includes a first distally-extending arm 502a and a second distally-extending arm 502b offset from the first distally- extending arm 502a.
- the first arm 502a defines a first aperture 504a configured to receive and seat one end of the first axle 404a
- the second arm 502b defines a second aperture 504b configured to receive and seat the opposite end of the first axle 404a.
- the first and second jaw mem bers 210, 212 may be mounted to the first and second jaw holders 414a,b, respectively, such that movement of the particular jaw holder 414a, b will correspondingly move the mounted jaw member 210, 212.
- the first and second jaw holders 414a,b m ay each provide or otherwise define a jaw recess 506 sized to receive and seat the jaw members 210, 21 2.
- the jaw holders 414a, b may also each define a central aperture 508 through which the first axle 404a may extend to rotatably m ount the jaw m em bers 21 0, 21 2 to the distal clevis 402a.
- the end effector 204 may further include a sleeve axle 510 that may be designed to assume some or all of the bearing stress caused by independent rotation of the jaw holders 414a,b during operation.
- the sleeve axle 510 comprises a generally hollow and cylindrical body 512 having a first end 514a and a second end 514b opposite the first end 514a.
- a central passageway 516 is defined in the body 512 and extends between the first and second ends 514a,b.
- the central passageway 516 may be sized or otherwise configured to receive the first axle 404a therein.
- the sleeve axle 510 interposes the first axle 404a and the jaw holders 414a, b. Accordingly, the sleeve axle 51 0 m ay m itigate or entirely elim inate galling on the first axle 404a, which could otherwise lim it the useful service life of the end effector 204.
- the sleeve axle 510 m ay provide or otherwise define an enlarged-diam eter head 518 at the second end 514b to help properly position the sleeve axle 510 for operation. More specifically, the sleeve axle 51 0 may be extendable through the coaxially aligned central apertures 508 of each jaw holder 414a, b, and the enlarged-diameter head 518 may be sized to be received into an end recess 520 defined on the second jaw holder 414b.
- the depth of the end recess 520 m ay allow the enlarged- diam eter head 518 to be received in a flush-m ount arrangement with the remaining portions of the second jaw holder 414a, but may alternatively protrude a short distance to act as a bearing against an inner surface of the distal clevis 402a.
- the sleeve axle 510 is extended through the coaxially aligned central apertures 508 of each jaw holder 414a, b until the enlarged-diameter head 51 8 is received within the end recess 520.
- the sleeve axle 510 may be coupled to the first jaw holder 414a to secure the sleeve axle 510 in place.
- securing the sleeve axle 51 0 to the first jaw holder 414a may essentially couple the first jaw holder 414a to the second jaw holder 414b.
- the first and second jaw holders 414a, b may then be positioned in an opening 522 defined between the opposing arms 502a, b of the distal clevis 402a.
- the first axle 404a may then be progressively extended through the first aperture 504a in the first arm 502a, the central passageway 516 of the sleeve axle 51 0, and the second aperture 504b in the second arm 502b.
- One or both ends of the first axle 404a may then be secured to the distal clevis 402a at the first or second apertures 504a, b to secure the first axle 404a to the distal clevis 402a.
- FI G. 6 is a cross-sectional side view of the end effector 204 of FI G. 5 as assem bled, according to one or more em bodiments.
- the sleeve axle 510 generally interposes the first axle 404a and the first and second jaw holders 414a, b. More specifically, the sleeve axle 51 0 is extended through the coaxially aligned central apertures 508 of the jaw holders 414a, b and the enlarged-diameter head 518 is received into the end recess 520 of the second jaw holder 414b. Moreover, the first axle 404a extends through the central passageway 516 of the sleeve axle 51 0.
- the sleeve axle 51 0 may be secured to the first jaw holder 414a via a variety of m eans. I n some embodiments, for exam ple, the sleeve axle 510 m ay be welded or brazed to the first jaw holder 414a at the first end 514a, as shown by the arrows W. I n other embodiments, however, the sleeve axle 510 may be threaded to the first jaw holder 414a via a m ating threaded engagement, without departing from the scope of the disclosure.
- a compressive load (force) m ay be applied to the first jaw holder 414a along the sleeve axle 510 as the sleeve axle 510 is secured to the first jaw holder 414a.
- the compressive load m ay force the enlarged-diam eter head 51 8 against the second jaw holder 414b at the end recess 520, and thereby rem ove any gaps between the jaw holders 414a,b to provide a zero tolerance stack.
- the end effector 204 m ay include a wear- resistant substance 602 (shown as dashed lines) provided at the radial interface between the sleeve axle 510 and the second jaw holder 414b to reduce friction and wear.
- the wear-resistant substance 602 may comprise a material coated on the outer radial surface of the sleeve axle 510, but could alternatively (or in addition thereto) com prise a material coated on the inner radial surface of the second jaw holder 414b at the central aperture 508.
- the wear-resistant substance 602 may comprise a low-friction bearing material or structure that interposes the sleeve axle 510 and the second jaw holder 414b.
- the wear-resistant substance 602 may comprise a low-friction material such as, but not lim ited to, a diam ond-like carbon ( DLC) , an ultra-hard material (e.g., polycrystalline diamond, polycrystalline cubic boron nitride, or impregnated diam ond) , a lubricant (e.g. , KRYTOXTM brand synthetic lubricant) , a dry film coating (e.g.
- DLC diam ond-like carbon
- an ultra-hard material e.g., polycrystalline diamond, polycrystalline cubic boron nitride, or impregnated diam ond
- a lubricant e.g. , KRYTOXTM brand synthetic lubricant
- a dry film coating e.g.
- the second jaw holder 414b may be machined out of a spinodal bronze or another material that offers good galling resistance and strength against stainless steel, for exam ple.
- the wear-resistant substance 602 may also be provided at the axial interface between the sleeve axle 510 and the second jaw holder 414b. More particularly, the wear-resistant substance 602 m ay extend to the axial interface between the enlarged-diameter head 518 and the end recess 520 to reduce friction and wear at that location as the sleeve axle 510 rotates relative to the second jaw holder 414b, and vice versa.
- the first axle 404a supports the jaw holders 414a, b and the sleeve axle 51 0 on the distal clevis 402a and thereby controls the yaw motion of the end effector 204 when the jaw members 210, 212 m ove in unison. More specifically, the first axle 404a extends through the central passageway 51 6 of the sleeve axle 510 and its opposing ends are received within the first and second apertures 504a, b, respectively, of the distal clevis 402a. I n some embodiments, one or both ends of the first axle 404a may be secured to the distal clevis 402a at the first or second apertures 504a, b, respectively.
- one or both ends of the first axle 404a may be welded or brazed to the distal clevis 402a at the first or second apertures 504a, b.
- one end of the first axle 404a may be threaded to the corresponding aperture 504a, b.
- one or both of the ends of the first axle 404a may be secured to the corresponding apertures 504a, b by orbital riveting the outer surface of the ends of the first axle 404a.
- one or both ends of the first axle 404a may be received within the corresponding aperture 504a, b via an interference or shrink fit.
- the jaw holders 414a, b and the sleeve axle 510 may each be able to m ove (articulate) relative to the first axle 404a about the first pivot axis Pi . Having the sleeve axle 510 interpose the first axle 404a and the jaw holders 414a,b effectively spreads the bearing contact over the entire axial length of the first axle 404a via movement of the sleeve axle 510.
- a wear-resistant substance 604 may be provided at the interface between the first axle 404a and the sleeve axle 510 to reduce friction and wear.
- the wear-resistant substance 604 may comprise sim ilar materials or structures as the wear-resistant substance 602 mentioned above.
- the wear-resistant substance 604 may comprise a m aterial coated on the outer radial surface of the first axle 404a, or alternatively (or in addition thereto) on the inner radial surface of the sleeve axle 510.
- the wear-resistant substance 604 m ay comprise a low-friction bearing material or structure interposing the first axle 404a and the sleeve axle 510.
- Em bodim ents disclosed herein include:
- An end effector that includes a distal clevis, an axle mounted to the distal clevis, a first jaw holder and corresponding first jaw m em ber rotatably mounted to the axle, a second jaw holder and corresponding second jaw m em ber rotatably mounted to the axle, and a sleeve axle having a first end, a second end, and a central passageway extending between the first and second ends, wherein the axle is received within the central passageway and the sleeve axle is rotatable relative to the axle.
- a surgical tool that includes a drive housing, an elongate shaft that extends from the drive housing, a wrist operatively coupled to a distal end of the shaft and having a distal clevis and an axle mounted to the distal clevis, an end effector having a first jaw holder and corresponding first jaw member rotatably mounted to the axle and a second jaw holder and corresponding second jaw member rotatably mounted to the axle, and a sleeve axle radially interposing the first and second jaw holders and the axle and rotatable relative to the axle.
- a m ethod of operating a surgical tool that includes positioning the surgical tool adjacent a patient for operation, the surgical tool including a drive housing, an elongate shaft that extends from the drive housing, a wrist operatively coupled to a distal end of the shaft and having a distal clevis and an axle mounted to the distal clevis, an end effector having a first jaw holder and corresponding first jaw mem ber rotatably mounted to the axle and a second jaw holder and corresponding second jaw member rotatably m ounted to the axle, and a sleeve axle radially interposing the first and second jaw holders and the axle and rotatable relative to the axle.
- the method further including articulating at least one of the first and second jaw members about the axle, and m itigating galling of the axle with the sleeve axle.
- Each of em bodim ents A, B, and C m ay have one or m ore of the following additional elem ents in any combination: Elem ent 1 : wherein the sleeve axle is secured to the first jaw holder such that m ovement of the first jaw holder causes the sleeve axle to rotate. Element 2: wherein the first end of the sleeve axle is welded or brazed to the first jaw holder. Element 3: further comprising a wear- resistant substance provided at a radial interface between the sleeve axle and the second jaw holder.
- Element 4 wherein the wear-resistant substance com prises a material coated on one or both of an outer radial surface of the sleeve axle and an inner radial surface of the second jaw holder.
- Elem ent 5 further com prising an enlarged-diameter head provided at the second end and receivable within an end recess defined on the second jaw holder.
- Element 6 further com prising a wear- resistant substance provided at an axial interface between the enlarged-diameter head and the end recess.
- Elem ent 7 further comprising a wear-resistant substance provided at an interface between the first axle and the sleeve axle.
- Element 8 wherein the wear-resistant substance com prises a m aterial coated on one or both of an outer radial surface of the first axle and an inner radial surface of the sleeve axle.
- Element 9 wherein opposing ends of the first axle are received within corresponding apertures defined in the distal clevis, and wherein one or both of the opposing ends are secured to the distal clevis at the corresponding apertures.
- Element 10 wherein the one or both of the opposing ends are secured to the distal clevis by at least one of welding, brazing, a threaded engagement, orbital riveting an interference fit, and a shrink fit.
- Element 1 1 wherein the sleeve axle comprises a cylindrical body having a first end, a second end, and a central passageway extending between the first and second ends, and wherein the axle extends through the central passageway.
- Element 1 2 wherein the sleeve axle is secured to the first jaw holder such that movement of the first jaw holder causes the sleeve axle to rotate.
- Element 13 further comprising an enlarged-diam eter head provided at the second end and receivable within an end recess defined on the second jaw holder.
- Element 14 further com prising a wear-resistant substance provided at an axial interface between the enlarged-diam eter head and the end recess, wherein the wear-resistant substance comprises a low-friction m aterial selected from the group consisting of a diam ond-like carbon coating, an ultra-hard material, a lubricant, a dry film coating, and any combination thereof.
- a wear-resistant substance provided at an axial interface between the enlarged-diam eter head and the end recess, wherein the wear-resistant substance comprises a low-friction m aterial selected from the group consisting of a diam ond-like carbon coating, an ultra-hard material, a lubricant, a dry film coating, and any combination thereof.
- Element 15 further comprising a wear-resistant substance provided at a radial interface between the sleeve axle and the second jaw holder, wherein the wear-resistant substance comprises a low-friction material selected from the group consisting of a diamond-like carbon coating, an ultra-hard material, a lubricant, a dry film coating, and any com bination thereof.
- Element 1 6 further com prising a wear-resistant substance provided at an interface between the first axle and the sleeve axle, wherein the wear-resistant substance comprises a low- friction m aterial selected from the group consisting of a diamond-like carbon coating, an ultra-hard material, a lubricant, a dry film coating, and any com bination thereof.
- Element 1 7 wherein the second jaw holder is made of a material having a low galling threshold against stainless steel.
- exemplary combinations applicable to A, B, and C include: Element 1 with Elem ent 2; Element 3 with Element 4; Element 5 with Elem ent 6; Element 7 with Element 8; Elem ent 9 with Elem ent 1 0; Elem ent 1 1 with Element 1 2; Element 1 1 with Elem ent 13; and Element 13 with Element 14.
- compositions and methods are described in terms of “com prising,”“containing,” or“including” various components or steps, the compositions and methods can also“consist essentially of” or“consist of” the various components and steps. All numbers and ranges disclosed above may vary by some am ount. Whenever a num erical range with a lower lim it and an upper lim it is disclosed, any num ber and any included range falling within the range is specifically disclosed.
- the phrase“at least one of” preceding a series of items, with the terms“and” or“or” to separate any of the items modifies the list as a whole, rather than each member of the list ( i.e. , each item).
- the phrase“at least one of” allows a meaning that includes at least one of any one of the items, and/or at least one of any combination of the items, and/or at least one of each of the items.
- phrases“at least one of A, B, and C” or“at least one of A, B, or C” each refer to only A, only B, or only C; any combination of A, B, and C; and/or at least one of each of A, B, and C.
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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JP2020561648A JP7346451B2 (en) | 2018-05-04 | 2019-04-26 | Two-axis robot end effector |
KR1020207033081A KR20210005084A (en) | 2018-05-04 | 2019-04-26 | Double axle robot end effector |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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US15/971,258 | 2018-05-04 | ||
US15/971,258 US11317962B2 (en) | 2018-05-04 | 2018-05-04 | Dual axle robotic end effector |
Publications (1)
Publication Number | Publication Date |
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WO2019211712A1 true WO2019211712A1 (en) | 2019-11-07 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/IB2019/053453 WO2019211712A1 (en) | 2018-05-04 | 2019-04-26 | Dual axle robotic end effector |
Country Status (6)
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US (2) | US11317962B2 (en) |
EP (1) | EP3563782A1 (en) |
JP (1) | JP7346451B2 (en) |
KR (1) | KR20210005084A (en) |
CN (1) | CN109009441A (en) |
WO (1) | WO2019211712A1 (en) |
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Publication number | Priority date | Publication date | Assignee | Title |
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US11317962B2 (en) * | 2018-05-04 | 2022-05-03 | Ethicon Llc | Dual axle robotic end effector |
WO2020170147A1 (en) * | 2019-02-20 | 2020-08-27 | Ethicon Llc | Scissor sleeve assembly protection |
GB2599101A (en) * | 2020-09-23 | 2022-03-30 | Cmr Surgical Ltd | Arrangement of end effector elements |
CN112914683B (en) * | 2021-03-10 | 2022-09-27 | 山东威高手术机器人有限公司 | Multi-degree-of-freedom surgical instrument with independently moving forceps leaves and end effector |
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-
2018
- 2018-05-04 US US15/971,258 patent/US11317962B2/en active Active
- 2018-07-20 CN CN201810806002.8A patent/CN109009441A/en active Pending
-
2019
- 2019-04-26 WO PCT/IB2019/053453 patent/WO2019211712A1/en active Application Filing
- 2019-04-26 JP JP2020561648A patent/JP7346451B2/en active Active
- 2019-04-26 KR KR1020207033081A patent/KR20210005084A/en not_active Application Discontinuation
- 2019-05-03 EP EP19172583.7A patent/EP3563782A1/en active Pending
-
2022
- 2022-05-02 US US17/734,592 patent/US11877789B2/en active Active
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Also Published As
Publication number | Publication date |
---|---|
CN109009441A (en) | 2018-12-18 |
EP3563782A1 (en) | 2019-11-06 |
US11317962B2 (en) | 2022-05-03 |
JP2021523766A (en) | 2021-09-09 |
KR20210005084A (en) | 2021-01-13 |
JP7346451B2 (en) | 2023-09-19 |
US11877789B2 (en) | 2024-01-23 |
US20220257308A1 (en) | 2022-08-18 |
US20190336199A1 (en) | 2019-11-07 |
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